CN-121995759-A - ROV track tracking optimization control method oriented to complex environment

CN121995759ACN 121995759 ACN121995759 ACN 121995759ACN-121995759-A

Abstract

The invention discloses an ROV track tracking optimization control method for a complex environment, which relates to the technical field of underwater robot control and comprises the steps of establishing a North east coordinate system as a fixed coordinate system, using an underwater robot body coordinate system as a motion coordinate system, defining six-degree-of-freedom motion parameters, establishing a complete dynamic model, simplifying the complete dynamic model into a four-degree-of-freedom control model according to actual operation conditions and the structural characteristics of the underwater robot, performing thrust distribution according to a direct logic distribution method, designing a double-closed loop synovial surface with an integral term and an improved exponential approach law, using a hyperbolic tangent function as a switching term, completing the improved design of an outer ring position controller and an inner ring speed controller, designing a multi-target fitness function, and performing iterative optimization on parameters of the synovial controller based on an improved crow search algorithm to obtain an optimal parameter combination of adaptive thrust limitation and a complex track. The invention effectively improves the tracking precision of the ROV in a complex environment.

Inventors

ZHANG GUOCHANG
WANG YANYAN
XIA SENSEN
SONG MEIXUAN
WANG YAO
SONG XIAOLONG
CHEN WEI

Assignees

哈尔滨工程大学
烟台哈尔滨工程大学研究院

Dates

Publication Date: 20260508
Application Date: 20260209

Claims (6)

1. The ROV track tracking optimization control method facing the complex environment is characterized by comprising the following steps of: Establishing a north east coordinate system as a fixed coordinate system, an underwater robot body coordinate system as a motion coordinate system, defining six-degree-of-freedom motion parameters, establishing a complete dynamics model, simplifying the complete dynamics model into a four-degree-of-freedom control model according to actual operation conditions and structural characteristics of the underwater robot, and performing thrust distribution according to a direct logic distribution method; Step 2, designing a double-closed loop synovial membrane controller, namely designing a double-closed loop synovial membrane surface containing an integral term and an improved exponential approach law, using a hyperbolic tangent function as a switching term, completing the improved design of an outer ring position controller and an inner ring speed controller, and verifying the asymptotic stability of the improved system; Step 3, optimizing parameters of the synovial membrane controller, namely designing a multi-target fitness function, and carrying out iterative optimization on the parameters of the synovial membrane controller obtained in the step 2 based on an improved crow searching algorithm to obtain an optimal parameter combination of limited adaptive thrust and a complex track; And 4, integrating the four-degree-of-freedom control model obtained in the step 1, the synovial membrane controller obtained in the step 2 and the improved crow search parameter optimization module of the step 3 to construct a complete underwater robot track tracking optimization control system, and verifying the control performance of the system under the undisturbed working condition through planar track and three-dimensional complex track simulation test.
2. The method for optimizing control of ROV track tracking for complex environment according to claim 1, wherein the four-degree-of-freedom control model in step 1 is: ; ; ; ; Wherein, the Is a four-degree-of-freedom ROV system inertial mass matrix, Is a coriolis centripetal force matrix of a four-degree-of-freedom ROV dynamics system, Is a damping force matrix of a four-degree-of-freedom ROV dynamic system, In order to control the input vector(s), Is the external interference force and moment vector, m is the rigid body mass of the ROV, For the purpose of the heave additional mass coefficient, In order to cross the additional mass coefficient, For the heave to be added with a mass coefficient, An additional moment of inertia coefficient for yaw, For the moment of inertia of the ROV about the Z-axis, For the relative lateral velocity of the water flow, For the relative longitudinal velocity of the water flow, The cross damping coefficient indicates the effect of yaw rate on lateral force. For a roll-over linear damping coefficient, For the two-time damping coefficient of the cross oscillation, In order to cross-couple the damping derivative, For a yaw linear damping coefficient, Is a yaw secondary damping coefficient, A cross damping coefficient, representing the effect of lateral speed on yaw moment, In order to cross-couple the damping derivative, Is a vertical linear damping coefficient, For the heave secondary damping coefficient, Is a longitudinal linear damping coefficient, Is the heave secondary damping coefficient.
3. The method for optimizing control of ROV track tracking for complex environment according to claim 2, wherein the double closed loop synovial surface expression containing integral term in step 2 is: position slide die surface: ; Speed slip plane: ; Wherein, the Indicating the position tracking error is indicated by the position tracking error, The parameters of the sliding mode surface are represented, Indicating the speed tracking error of the vehicle, Representing the slip form surface parameters.
4. The method for optimizing and controlling ROV track tracking for complex environments according to claim 3, wherein the improved exponential approach law is specifically: outer loop control law The method comprises the following steps: Inner loop control law The method comprises the following steps: ; wherein J represents a conversion matrix, Representing the switching gain factor of the outer loop controller, The scale parameter representing the hyperbolic tangent function, Representing the sliding mode surface gain matrix of the outer loop controller, A derivative representing the desired position is provided, Representing the restoring force and moment vectors of a four-degree-of-freedom ROV system, Representing the sliding mode surface gain matrix of the inner loop controller, Representing the switching gain factor of the inner loop controller, The scale parameter representing the inner loop hyperbolic tangent function.
5. The method for optimizing and controlling ROV track tracking for complex environment according to claim 4, wherein the multi-objective fitness function in step 3 is specifically: ; ; ; ; Wherein, the Representing a tracking error function; Representing the control input limit function, Representing the function of the stability of the system, To control the input limit, t represents time, e (t) represents error, The control input is represented as such, The approach rate of the sliding mode is represented, 、、 Representing the weight coefficient.
6. The method for optimizing control of ROV trajectory tracking for complex environments according to claim 5, wherein said improved crow search algorithm specifically comprises using tent map instead of random initialization: Wherein Representing the nth mapping time of the mapping, Representing the mapping parameters of the image, Represents the n+1st mapping; When the crow position is updated, a weight matrix is introduced : ; Wherein the method comprises the steps of In the form of a linear decaying weight matrix, For a random number uniformly distributed in [0,1], For the probability of flight the number of the aircraft, Is the first Only crow conceals the food, which is essentially the first Radix seu radix Kadsurae Longipedunculatae The optimal position after the number of iterations, Is the first Oak only at The perceived probability in a number of iterations, For the step-size scaling factor, For the lewy flight to be a random step, For a global optimal position in the current whole crow group, For the maximum number of iterations, k is the number of iterations, As an initial maximum value of the weight, Is the final minimum of the weights.

Description

ROV track tracking optimization control method oriented to complex environment Technical Field The invention relates to the technical field of underwater robot control, in particular to an ROV track tracking optimization control method for a complex environment, and specifically relates to a comprehensive control strategy method aiming at ROV accurate track tracking and thrust limited adaptation requirements in a complex fishing environment. Background In recent years, remote control underwater Robots (ROV) have become important equipment for marine product fishing operations, and particularly in benthonic fishing of sea cucumbers and the like, the remote control underwater robots can replace manual operations, reduce safety risks and improve operation efficiency. However, the fishing type ROV faces complex marine environment and working condition challenges in actual operation, and the accuracy and thrust suitability of the track tracking control directly influence the fishing effect. The existing control technology of the fishing type ROV has the defects that the traditional PID-based control method is difficult to cope with complex constraints such as dynamic load change, limited thrust and the like, the parameter adaptability is insufficient, the traditional sliding mode control has certain robustness, but has obvious buffeting phenomenon, the propeller is easy to damage and control precision is influenced, key parameters of the controller depend on manual experience setting, the expected control effect is difficult to achieve under the working conditions such as limited thrust, complex track and the like, the adaptability is poor, the existing parameter optimization technology is mostly single-target optimization, and the cooperative consideration on tracking precision, system stability and thrust constraint is lacked. In related researches at home and abroad, partial improved control schemes attempt to solve the problems, but have the defects that partial researches are only verified for a single degree of freedom or a simple track, complex actual working conditions of fishing operation are not considered, partial parameter optimization schemes are not combined with thrust limited characteristics, adaptability to fishing load change and propeller saturation constraint is not enough, and an intelligent optimization algorithm and sliding mode control depth fusion is lacked to realize parameter self-tuning to adapt to an integrated scheme of complex track and thrust limitation. In summary, the prior art is difficult to simultaneously meet the comprehensive requirements of the fishing type ROV on track tracking precision, limited thrust adaptability, parameter self-optimization and system stability in a complex environment, and an integrated track tracking optimization control scheme capable of adapting to complex fishing working conditions is needed. Disclosure of Invention In order to overcome the problems in the prior art, the invention provides an ROV track tracking optimization control method facing to a complex environment. The technical scheme adopted by the invention for solving the technical problems is that the ROV track tracking optimization control method facing the complex environment comprises the following steps: Establishing a north east coordinate system as a fixed coordinate system, an underwater robot body coordinate system as a motion coordinate system, defining six-degree-of-freedom motion parameters, establishing a complete dynamics model, simplifying the complete dynamics model into a four-degree-of-freedom control model according to actual operation conditions and structural characteristics of the underwater robot, and performing thrust distribution according to a direct logic distribution method; Step 2, designing a double-closed loop synovial membrane controller, namely designing a double-closed loop synovial membrane surface containing an integral term and an improved exponential approach law, using a hyperbolic tangent function as a switching term, completing the improved design of an outer ring position controller and an inner ring speed controller, and verifying the asymptotic stability of the improved system; Step 3, optimizing parameters of the synovial membrane controller, namely designing a multi-target fitness function, and carrying out iterative optimization on the parameters of the synovial membrane controller obtained in the step 2 based on an improved crow searching algorithm to obtain an optimal parameter combination of limited adaptive thrust and a complex track; And 4, integrating the four-degree-of-freedom control model obtained in the step 1, the synovial membrane controller obtained in the step 2 and the improved crow search parameter optimization module of the step 3 to construct a complete underwater robot track tracking optimization control system, and verifying the control performance of the system under the undisturbed working condition through planar trac